3 accepted papers
This paper presents a curriculum-based reinforcement learning framework for training precise and highperformance jumping policies for the robot Olympus. Separate policies are developed for vertical and horizontal jumps, leveraging a simple yet effective strategy. First, we densify the inherently spa
Exploring planetary bodies with lower gravity, such as the moon and Mars, allows legged robots to utilize jumping as an efficient form of locomotion thus giving them a valuable advantage over traditional rovers for exploration. Motivated by this fact, this paper presents the design, simulation, and
We present the development and real world demonstration of an in-flight attitude control law for a small low-cost quadruped with a five-bar-linkage leg design using only its legs as reaction masses. The control law is trained using deep reinforcement learning (DRL) and specifically through Proximal…